Commit 30fa50b4 authored by kberry's avatar kberry
Browse files

updated compute_homography to use correct nodes

parent 39a93c58

autocnet/graph/network.py

+10 −6
Original line number Diff line number Diff line
@@ -51,7 +51,7 @@ class CandidateGraph(nx.Graph): 
            adjacency_dict[n] = self.neighbors(n)

        io_json.write_json(adjacency_dict, outputfile)



    def add_matches(self, source_node, matches):

    def add_matches(self, source_node, matches): #src node = query node; destination node = train node

        """



        Adds match data to a node and attributes the data to the
@@ -79,11 +79,10 @@ class CandidateGraph(nx.Graph): 


            if 'matches' in edge.keys():

                df = edge['matches']

                edge['matches'] = pd.merge(df, matches, left_on='queryIdx', right_on='trainIdx')

                edge['matches'] = pd.merge(df, matches, left_on='queryIdx', right_on='trainIdx') #how do we know it does the right thing?

            else:

                edge['matches'] = matches





    def compute_homography(self, source_key, destination_key, outlier_algorithm=cv2.RANSAC):

        """
@@ -97,9 +96,10 @@ class CandidateGraph(nx.Graph): 
        -------

         : tuple

           A tuple of the form (transformation matrix, bad entry mask)

           The returned tuple is empty if there is no edge between the source and destination nodes or

           if it exists, but has not been populated with a matches dataframe.



        """

        #TODO: deal with "no edge" case / fail better

        if self.has_edge(source_key, destination_key):

            try:

                edge = self[source_key][destination_key]
@@ -110,11 +110,15 @@ class CandidateGraph(nx.Graph): 
                destination_keypoints = []

                for i, row in edge['matches'].iterrows():

                    # Get the source and destination x,y coordinates for matches to feed into findHomography

                    source_idx = row['queryIdx_x']

                    #source_idx = row['queryIdx_x']

                    source_idx = row['trainIdx_x']

                    source_key = row['matched_to_x']

                    src_keypoint = [self.node[source_key]['keypoints'][source_idx].pt[0],

                    self.node[source_key]['keypoints'][source_idx].pt[1]]



                    destination_idx = row['queryIdx_y']

                    #destination_idx = row['queryIdx_y']

                    destination_idx = row['trainIdx_y']

                    destination_key = row['matched_to_y']

                    dest_keypoint = [self.node[destination_key]['keypoints'][destination_idx].pt[0],

                                      self.node[destination_key]['keypoints'][destination_idx].pt[1]]